#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Matrix.h>
#include <gtsam/base/Testable.h>
#include <gtsam/geometry/FundamentalMatrix.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/geometry/SimpleCamera.h>
#include <gtsam/geometry/Unit3.h>
#include <cmath>

Include dependency graph for testFundamentalMatrix.cpp:

Functions
std::array< Pose3, 3 >	generateCameraPoses ()
	Generate three cameras on a circle, looking in. More...

TripleF< SimpleFundamentalMatrix >	generateTripleF (const std::array< Pose3, 3 > &cameraPoses)
	Function to generate a TripleF from camera poses. More...

int	main ()

Point2	principalPoint (640/2, 480/2)

	TEST (FundamentalMatrix, Conversion)

	TEST (FundamentalMatrix, LocalCoordinates)

	TEST (FundamentalMatrix, Retract)

	TEST (FundamentalMatrix, RoundTrip)

	TEST (PixelStereo, Conversion)

	TEST (PixelStereo, PointInBToHorizontalLineInA)

	TEST (RotatedPixelStereo, Conversion)

	TEST (RotatedPixelStereo, PointInBToHorizontalLineInA)

	TEST (SimpleStereo, Conversion)

	TEST (SimpleStereo, EpipolarLine)

	TEST (SimpleStereo, LocalCoordinates)

	TEST (SimpleStereo, Retract)

	TEST (SimpleStereo, RoundTrip)

	TEST (stereoWithPrincipalPoints, Conversion)

	TEST (TripleF, Transfer)

FundamentalMatrix	trueF (trueU.matrix(), trueS, trueV.matrix())

Point2	zero (0.0, 0.0)

Variables
Rot3	aRb = Rot3::Rz(M_PI_2)

EssentialMatrix	defaultE (Rot3(), Unit3(1, 0, 0))

double	focalLength = 1000

SimpleFundamentalMatrix	pixelStereo (defaultE, focalLength, focalLength, zero, zero)

EssentialMatrix	rotatedE (aRb, Unit3(1, 0, 0))

SimpleFundamentalMatrix	rotatedPixelStereo (rotatedE, focalLength, focalLength, zero, zero)

SimpleFundamentalMatrix	stereoF (defaultE, 1.0, 1.0, zero, zero)

SimpleFundamentalMatrix	stereoWithPrincipalPoints (rotatedE, focalLength, focalLength, principalPoint, principalPoint)

double	trueS = 0.5

Rot3	trueU = Rot3::Yaw(M_PI_2)

Rot3	trueV = Rot3::Yaw(M_PI_4)

Function Documentation

◆ generateCameraPoses()

std::array<Pose3, 3> generateCameraPoses ( )

Generate three cameras on a circle, looking in.

Definition at line 194 of file testFundamentalMatrix.cpp.

◆ generateTripleF()

TripleF<SimpleFundamentalMatrix> generateTripleF ( const std::array< Pose3, 3 > & cameraPoses )

Function to generate a TripleF from camera poses.

Definition at line 208 of file testFundamentalMatrix.cpp.

◆ main()

int main ( )

Definition at line 250 of file testFundamentalMatrix.cpp.

◆ principalPoint()

Point2 principalPoint	(	640/	2,
		480/	2
	)

◆ TEST() [1/15]

TEST	(	FundamentalMatrix	,
		Conversion
	)

Definition at line 47 of file testFundamentalMatrix.cpp.

◆ TEST() [2/15]

TEST	(	FundamentalMatrix	,
		LocalCoordinates
	)

Definition at line 33 of file testFundamentalMatrix.cpp.

◆ TEST() [3/15]

TEST	(	FundamentalMatrix	,
		Retract
	)

Definition at line 40 of file testFundamentalMatrix.cpp.

◆ TEST() [4/15]

TEST	(	FundamentalMatrix	,
		RoundTrip
	)

Definition at line 63 of file testFundamentalMatrix.cpp.

◆ TEST() [5/15]

TEST	(	PixelStereo	,
		Conversion
	)

Definition at line 123 of file testFundamentalMatrix.cpp.

◆ TEST() [6/15]

TEST	(	PixelStereo	,
		PointInBToHorizontalLineInA
	)

Definition at line 135 of file testFundamentalMatrix.cpp.

◆ TEST() [7/15]

TEST	(	RotatedPixelStereo	,
		Conversion
	)

Definition at line 152 of file testFundamentalMatrix.cpp.

◆ TEST() [8/15]

TEST	(	RotatedPixelStereo	,
		PointInBToHorizontalLineInA
	)

Definition at line 164 of file testFundamentalMatrix.cpp.

◆ TEST() [9/15]

TEST	(	SimpleStereo	,
		Conversion
	)

Definition at line 78 of file testFundamentalMatrix.cpp.

◆ TEST() [10/15]

TEST	(	SimpleStereo	,
		EpipolarLine
	)

Definition at line 106 of file testFundamentalMatrix.cpp.

◆ TEST() [11/15]

TEST	(	SimpleStereo	,
		LocalCoordinates
	)

Definition at line 84 of file testFundamentalMatrix.cpp.

◆ TEST() [12/15]

TEST	(	SimpleStereo	,
		Retract
	)

Definition at line 91 of file testFundamentalMatrix.cpp.

◆ TEST() [13/15]

TEST	(	SimpleStereo	,
		RoundTrip
	)

Definition at line 97 of file testFundamentalMatrix.cpp.

◆ TEST() [14/15]

TEST	(	stereoWithPrincipalPoints	,
		Conversion
	)

Definition at line 181 of file testFundamentalMatrix.cpp.

◆ TEST() [15/15]

TEST	(	TripleF	,
		Transfer
	)

Definition at line 221 of file testFundamentalMatrix.cpp.

◆ trueF()

FundamentalMatrix trueF	(	trueU.	matrix(),
		trueS	,
		trueV.	matrix()
	)

◆ zero()

Point2 zero	(	0.	0,
		0.	0
	)

Variable Documentation

◆ aRb

Rot3 aRb = Rot3::Rz(M_PI_2)

Definition at line 146 of file testFundamentalMatrix.cpp.

◆ defaultE

EssentialMatrix defaultE(Rot3(), Unit3(1, 0, 0))

◆ focalLength

double focalLength = 1000

Definition at line 118 of file testFundamentalMatrix.cpp.

◆ pixelStereo

SimpleFundamentalMatrix pixelStereo(defaultE, focalLength, focalLength, zero, zero)

◆ rotatedE

EssentialMatrix rotatedE(aRb, Unit3(1, 0, 0))

◆ rotatedPixelStereo

SimpleFundamentalMatrix rotatedPixelStereo(rotatedE, focalLength, focalLength, zero, zero)

◆ stereoF

SimpleFundamentalMatrix stereoF(defaultE, 1.0, 1.0, zero, zero)

◆ stereoWithPrincipalPoints

SimpleFundamentalMatrix stereoWithPrincipalPoints(rotatedE, focalLength, focalLength, principalPoint, principalPoint)

◆ trueS

double trueS = 0.5

Definition at line 29 of file testFundamentalMatrix.cpp.

◆ trueU

Rot3 trueU = Rot3::Yaw(M_PI_2)

Definition at line 27 of file testFundamentalMatrix.cpp.

◆ trueV

Rot3 trueV = Rot3::Yaw(M_PI_4)

Definition at line 28 of file testFundamentalMatrix.cpp.

Functions

Variables